50 Benchmarks for Anthropomorphic Hand Function-based Dexterity Classification and Kinematics-based Hand Design
Jianshu Zhou, Yonghua Chen, Dickson Chun Fung Li, Yuan Gao, Yunquan Li, Shing Shin Cheng, Fei Chen, Yunhui Liu
Abstract
Robotic hands with anthropomorphism considerations are of prominent popularity in human-centered environment. Existing anthropomorphic robotic hands achieving part or most of human hand comparable dexterity have been applied as various robotic end-effectors and prosthetics. However, two deficiencies are evident that the design for a dexterous anthropomorphic hand is largely based on the intuition of designers and the dexterity of robotic hand is hard to evaluate. To tackle these two challenges, this paper summarizes 50 hand dexterity benchmarks (HD-marks) to evaluate hand dexterity comprehensively from three perspectives. Secondly, a novel 22-DOFs soft robotic hand (S-22) replicates human hand kinematics is used to demonstrate all the 50 HD-marks. Thirdly, 7 critical joint-based kinematic motions (K-motions) and their correlation with the 50 HD-marks are established. Therefore, a clear robotic hand design guideline is built by mapping the hand functional dexterity to the required joint kinematics.
BibTeX
@inproceedings{iros2020_50benchmarksfora,
title = {50 Benchmarks for Anthropomorphic Hand Function-based Dexterity Classification and Kinematics-based Hand Design},
author = {Jianshu Zhou and Yonghua Chen and Dickson Chun Fung Li and Yuan Gao and Yunquan Li and Shing Shin Cheng and Fei Chen and Yunhui Liu},
booktitle = {IROS 2020},
year = {2020}
}